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<a href="#nested-classes">类</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-types">Protected 类型</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::rec_3d_framework::GlobalNNPipeline&lt; Distance, PointInT, FeatureT &gt; 模板类 参考</div>  </div>
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<p>Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a neighborhood, based on which different scoring schemes can be employed to obtain likelihood values for a specified list of classes. Available features: ESF, VFH, CVFH See apps/3d_rec_framework/tools/apps/global_classification.cpp for usage  
 <a href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="global__nn__classifier_8h_source.html">global_nn_classifier.h</a>&gt;</code></p>
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类 pcl::rec_3d_framework::GlobalNNPipeline&lt; Distance, PointInT, FeatureT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.png" usemap="#pcl::rec_5F3d_5Fframework::GlobalNNPipeline_3C_20Distance_2C_20PointInT_2C_20FeatureT_20_3E_map" alt=""/>
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类</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1index__score.html">index_score</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores.html">sortIndexScores</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setNN</b> (int nn)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getCategory</b> (std::vector&lt; std::string &gt; &amp;categories)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>getConfidence</b> (std::vector&lt; float &gt; &amp;conf)</td></tr>
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<tr class="memitem:a3a2ce02d9a4f511800a85d6c0f5adad0"><td class="memItemLeft" align="right" valign="top"><a id="a3a2ce02d9a4f511800a85d6c0f5adad0"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a3a2ce02d9a4f511800a85d6c0f5adad0">initialize</a> (bool force_retrain=false)</td></tr>
<tr class="memdesc:a3a2ce02d9a4f511800a85d6c0f5adad0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the FLANN structure from the provided source <br /></td></tr>
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<tr class="memitem:ac8c8a6d7db373377744bec01414736ce"><td class="memItemLeft" align="right" valign="top"><a id="ac8c8a6d7db373377744bec01414736ce"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ac8c8a6d7db373377744bec01414736ce">classify</a> ()</td></tr>
<tr class="memdesc:ac8c8a6d7db373377744bec01414736ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Performs classification <br /></td></tr>
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<tr class="memitem:ab2a56c4a884db25848f104276a5516dd"><td class="memItemLeft" align="right" valign="top"><a id="ab2a56c4a884db25848f104276a5516dd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#ab2a56c4a884db25848f104276a5516dd">setDataSource</a> (typename boost::shared_ptr&lt; <a class="el" href="classpcl_1_1rec__3d__framework_1_1_source.html">Source</a>&lt; PointInT &gt; &gt; &amp;source)</td></tr>
<tr class="memdesc:ab2a56c4a884db25848f104276a5516dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the model data source_ <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a00c340d5ae4d7866441bc0045e7b1f49">setFeatureEstimator</a> (typename boost::shared_ptr&lt; <a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator</a>&lt; PointInT, FeatureT &gt; &gt; &amp;feat)</td></tr>
<tr class="memdesc:a00c340d5ae4d7866441bc0045e7b1f49"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the model data source_ <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setIndices</b> (std::vector&lt; int &gt; &amp;indices)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af3d5dfd2311f56dc685db94b5d5b0189">setInputCloud</a> (const PointInTPtr &amp;cloud)</td></tr>
<tr class="memdesc:af3d5dfd2311f56dc685db94b5d5b0189"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the input cloud to be classified <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setDescriptorName</b> (std::string &amp;name)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setTrainingDir</b> (std::string &amp;dir)</td></tr>
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Protected 类型</h2></td></tr>
<tr class="memitem:a2db269254dd018a6279f3cc01e6bbba1"><td class="memItemLeft" align="right" valign="top"><a id="a2db269254dd018a6279f3cc01e6bbba1"></a>
typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointInTPtr</b></td></tr>
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typedef Distance&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DistT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1rec__3d__framework_1_1_model.html">Model</a>&lt; PointInT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ModelT</b></td></tr>
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typedef std::pair&lt; <a class="el" href="classpcl_1_1rec__3d__framework_1_1_model.html">ModelT</a>, std::vector&lt; float &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>flann_model</b></td></tr>
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Protected 成员函数</h2></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>loadFeaturesAndCreateFLANN</b> ()</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>convertToFLANN</b> (const std::vector&lt; flann_model &gt; &amp;models, <a class="el" href="classflann_1_1_matrix.html">flann::Matrix</a>&lt; float &gt; &amp;data)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>nearestKSearch</b> (<a class="el" href="classflann_1_1_index.html">flann::Index</a>&lt; DistT &gt; *index, const flann_model &amp;model, int k, <a class="el" href="classflann_1_1_matrix.html">flann::Matrix</a>&lt; int &gt; &amp;indices, <a class="el" href="classflann_1_1_matrix.html">flann::Matrix</a>&lt; float &gt; &amp;distances)</td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:a4568101c9d748955b4a3c2c97f270044"><td class="memItemLeft" align="right" valign="top"><a id="a4568101c9d748955b4a3c2c97f270044"></a>
struct <a class="el" href="structpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline_1_1sort_index_scores.html">pcl::rec_3d_framework::GlobalNNPipeline::sortIndexScores</a>&#160;</td><td class="memItemRight" valign="bottom"><b>sortIndexScoresOp</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a5866361f600831b47925886546caaa50">training_dir_</a></td></tr>
<tr class="memdesc:a5866361f600831b47925886546caaa50"><td class="mdescLeft">&#160;</td><td class="mdescRight">Directory where the trained structure will be saved <br /></td></tr>
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<tr class="memitem:af742fca9bd7da943d42416549f37fbd5"><td class="memItemLeft" align="right" valign="top"><a id="af742fca9bd7da943d42416549f37fbd5"></a>
PointInTPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#af742fca9bd7da943d42416549f37fbd5">input_</a></td></tr>
<tr class="memdesc:af742fca9bd7da943d42416549f37fbd5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Point cloud to be classified <br /></td></tr>
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boost::shared_ptr&lt; <a class="el" href="classpcl_1_1rec__3d__framework_1_1_source.html">pcl::rec_3d_framework::Source</a>&lt; PointInT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aa54cab49da4a1b5e563cc60985e2591d">source_</a></td></tr>
<tr class="memdesc:aa54cab49da4a1b5e563cc60985e2591d"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_model.html" title="Model representation">Model</a> data source <br /></td></tr>
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<tr class="memitem:a40bbef0581e8fadf85f57c34a4c77e82"><td class="memItemLeft" align="right" valign="top"><a id="a40bbef0581e8fadf85f57c34a4c77e82"></a>
boost::shared_ptr&lt; <a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_estimator.html">GlobalEstimator</a>&lt; PointInT, FeatureT &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#a40bbef0581e8fadf85f57c34a4c77e82">estimator_</a></td></tr>
<tr class="memdesc:a40bbef0581e8fadf85f57c34a4c77e82"><td class="mdescLeft">&#160;</td><td class="mdescRight">Computes a feature <br /></td></tr>
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<tr class="memitem:aba32b90d213023f7afbfdc0cb556f4a8"><td class="memItemLeft" align="right" valign="top"><a id="aba32b90d213023f7afbfdc0cb556f4a8"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_n_n_pipeline.html#aba32b90d213023f7afbfdc0cb556f4a8">descr_name_</a></td></tr>
<tr class="memdesc:aba32b90d213023f7afbfdc0cb556f4a8"><td class="mdescLeft">&#160;</td><td class="mdescRight">Descriptor name <br /></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>NN_</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>first_nn_category_</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pub_types_classpcl_1_1rec__3d__framework_1_1_global_classifier"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1rec__3d__framework_1_1_global_classifier')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1rec__3d__framework_1_1_global_classifier.html">pcl::rec_3d_framework::GlobalClassifier&lt; PointInT &gt;</a></td></tr>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointInT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointInTPtr</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;template&lt; class &gt; class Distance, typename PointInT, typename FeatureT&gt;<br />
class pcl::rec_3d_framework::GlobalNNPipeline&lt; Distance, PointInT, FeatureT &gt;</h3>

<p>Nearest neighbor search based classification of PCL point type features. FLANN is used to identify a neighborhood, based on which different scoring schemes can be employed to obtain likelihood values for a specified list of classes. Available features: ESF, VFH, CVFH See apps/3d_rec_framework/tools/apps/global_classification.cpp for usage </p>
<dl class="section author"><dt>作者</dt><dd>Aitor Aldoma </dd></dl>
</div><hr/>该类的文档由以下文件生成:<ul>
<li>apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/<a class="el" href="global__nn__classifier_8h_source.html">global_nn_classifier.h</a></li>
<li>apps/3d_rec_framework/include/pcl/apps/3d_rec_framework/pipeline/impl/<a class="el" href="global__nn__classifier_8hpp_source.html">global_nn_classifier.hpp</a></li>
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